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Effective IMU Implementation for City Scanner

We have written a program that provides effective work with IMU for City Scanner. We used IMU by Analog Devices and ATMega series microcontroller. Connection with inertial module according to its internal protocol has been implemented and a library for this protocol has been written. IMU is capable of giving out values of angle shift at frequency of 2.5 kHz, whereas the assumed frequency of requests to IMU was about 200 Hz. Considering that the maximum possible amount of data has to be taken into account, engineers from City Scanner decided to program the controller so that it reads the data at the highest frequency (2.5 kHz), processes the data, and gives out final values at any set frequency (e.g., 200 Hz).